Generic container of pointcloud(s), extracted features and other maps. More...

#include <metricmap.h>

Inheritance diagram for mp2p_icp::metric_map_t:

Classes
struct	Georeferencing

Public Attributes
Data fields
std::map< layer_name_t, mrpt::maps::CMetricMap::Ptr >	layers

std::vector< mrpt::math::TLine3D >	lines

std::vector< plane_patch_t >	planes

std::optional< uint64_t >	id

std::optional< std::string >	label

std::optional< Georeferencing >	georeferencing

Static Public Attributes
Reserved point-cloud layer names (for use in <tt>point_layers</tt>)
constexpr static const char *	PT_LAYER_RAW = "raw"

constexpr static const char *	PT_LAYER_PLANE_CENTROIDS = "plane_centroids"

Protected Member Functions
virtual void	derivedSerializeFrom ([[maybe_unused]] mrpt::serialization::CArchive &in)

virtual void	derivedSerializeTo ([[maybe_unused]] mrpt::serialization::CArchive &out) const

Methods
virtual bool	empty () const

virtual size_t	size () const

virtual size_t	size_points_only () const

virtual std::string	contents_summary () const

virtual void	clear ()

bool	save_to_file (const std::string &fileName) const

bool	load_from_file (const std::string &fileName)

mrpt::maps::CPointsMap::Ptr	point_layer (const layer_name_t &name) const

virtual auto	get_visualization (const render_params_t &p=render_params_t()) const -> std::shared_ptr< mrpt::opengl::CSetOfObjects >

virtual void	merge_with (const metric_map_t &otherPc, const std::optional< mrpt::math::TPose3D > &otherRelativePose=std::nullopt)

void	get_visualization_planes (mrpt::opengl::CSetOfObjects &o, const render_params_planes_t &p) const

void	get_visualization_lines (mrpt::opengl::CSetOfObjects &o, const render_params_lines_t &p) const

void	get_visualization_points (mrpt::opengl::CSetOfObjects &o, const render_params_points_t &p) const

Ptr	get_shared_from_this ()

Ptr	get_shared_from_this_or_clone ()

ConstPtr	get_shared_from_this () const

ConstPtr	get_shared_from_this_or_clone () const

static void	get_visualization_map_layer (mrpt::opengl::CSetOfObjects &o, const render_params_point_layer_t &p, const mrpt::maps::CMetricMap::Ptr &map)

Detailed Description

Generic container of pointcloud(s), extracted features and other maps.

This class could be derived by users to define custom point cloud features, for use in custom alignment algorithms.

The class supports C++11/C++17 std::shared_from_this() via get_shared_from_this();

Definition at line 49 of file metricmap.h.

Member Function Documentation

◆ clear()

void metric_map_t::clear ( )

virtual

clear all containers

Definition at line 366 of file metricmap.cpp.

◆ contents_summary()

std::string metric_map_t::contents_summary ( ) const

virtual

Returns a string summarizing all the elements in the container (points, lines, planes)

Definition at line 500 of file metricmap.cpp.

◆ derivedSerializeFrom()

virtual void mp2p_icp::metric_map_t::derivedSerializeFrom ( [[maybe_unused] ] mrpt::serialization::CArchive & in )

inlineprotectedvirtual

Implement in derived classes if new data fields are required

Definition at line 228 of file metricmap.h.

◆ derivedSerializeTo()

virtual void mp2p_icp::metric_map_t::derivedSerializeTo ( [[maybe_unused] ] mrpt::serialization::CArchive & out ) const

inlineprotectedvirtual

Implement in derived classes if new data fields are required

Definition at line 222 of file metricmap.h.

◆ empty()

bool metric_map_t::empty ( ) const

virtual

return true if all point cloud layers, feature lists, etc. are empty

Definition at line 362 of file metricmap.cpp.

◆ get_shared_from_this() [1/2]

metric_map_t::Ptr metric_map_t::get_shared_from_this ( )

Returns a shared_ptr to this object, if it was already created initially as a shared_ptr, or an empty pointer otherwise.

Definition at line 589 of file metricmap.cpp.

◆ get_shared_from_this() [2/2]

metric_map_t::ConstPtr metric_map_t::get_shared_from_this ( ) const

Definition at line 609 of file metricmap.cpp.

◆ get_shared_from_this_or_clone() [1/2]

metric_map_t::Ptr metric_map_t::get_shared_from_this_or_clone ( )

Like get_shared_from_this(), or makes a deep copy if the original object was allocated in the stack, etc.

Definition at line 602 of file metricmap.cpp.

◆ get_shared_from_this_or_clone() [2/2]

metric_map_t::ConstPtr metric_map_t::get_shared_from_this_or_clone ( ) const

Definition at line 622 of file metricmap.cpp.

◆ get_visualization()

auto metric_map_t::get_visualization ( const render_params_t & p = render_params_t() ) const -> std::shared_ptr<mrpt::opengl::CSetOfObjects>

virtual

Gets a renderizable view of all geometric entities.

See render_params_t for options to show/hide the different geometric entities and point layers.

Note: If deriving user classes inheriting from metric_map_t, remember to reimplement this method and call this base class method to render common elements.

Definition at line 121 of file metricmap.cpp.

◆ get_visualization_lines()

void metric_map_t::get_visualization_lines	(	mrpt::opengl::CSetOfObjects &	o,
		const render_params_lines_t &	p
	)		const

Used inside get_visualization(), renders lines only.

Definition at line 157 of file metricmap.cpp.

◆ get_visualization_map_layer()

void metric_map_t::get_visualization_map_layer	(	mrpt::opengl::CSetOfObjects &	o,
		const render_params_point_layer_t &	p,
		const mrpt::maps::CMetricMap::Ptr &	map
	)

static

Used inside get_visualization_points(), renders points only.

Definition at line 211 of file metricmap.cpp.

◆ get_visualization_planes()

void metric_map_t::get_visualization_planes	(	mrpt::opengl::CSetOfObjects &	o,
		const render_params_planes_t &	p
	)		const

Used inside get_visualization(), renders planes only.

Definition at line 135 of file metricmap.cpp.

◆ get_visualization_points()

void metric_map_t::get_visualization_points	(	mrpt::opengl::CSetOfObjects &	o,
		const render_params_points_t &	p
	)		const

Used inside get_visualization(), renders points only.

Definition at line 177 of file metricmap.cpp.

◆ load_from_file()

bool metric_map_t::load_from_file ( const std::string & fileName )

Loads the metric_map_t object from a file. See \save_to_file()

Returns: true on success.

Definition at line 578 of file metricmap.cpp.

◆ merge_with()

void metric_map_t::merge_with	(	const metric_map_t &	otherPc,
		const std::optional< mrpt::math::TPose3D > &	otherRelativePose = `std::nullopt`
	)

virtual

Merges all geometric entities from another point cloud into this one, with an optional relative pose transformation.

Note: Point layers will be merged for coinciding names, or created if the layer did not exist in this.; This method is virtual for user-extended point clouds can handle other geometric primitives as needed.

Definition at line 370 of file metricmap.cpp.

◆ point_layer()

mrpt::maps::CPointsMap::Ptr metric_map_t::point_layer ( const layer_name_t & name ) const

Returns a shared_ptr to the given point cloud layer, or throws if the layer does not exist or it contains a different type of metric map (e.g. if it is a gridmap).

Note that this method is only provided by convenience and backwards-compatibility: users can always directly access layers and perform a std::dynamic_pointer_cast<>.

Definition at line 629 of file metricmap.cpp.

◆ save_to_file()

bool metric_map_t::save_to_file ( const std::string & fileName ) const

Saves the metric_map_t object to file, using MRPT serialization and using on-the-fly GZIP compression.

Returns: true on success.

Definition at line 567 of file metricmap.cpp.

◆ size()

size_t metric_map_t::size ( ) const

virtual

Overall number of elements (points, lines, planes)

Definition at line 475 of file metricmap.cpp.

◆ size_points_only()

size_t metric_map_t::size_points_only ( ) const

virtual

Overall number of points, including all layers.

Definition at line 485 of file metricmap.cpp.

Member Data Documentation

◆ georeferencing

std::optional<Georeferencing> mp2p_icp::metric_map_t::georeferencing

If provided, gives the placement of the map with respect to the Earth.

Definition at line 117 of file metricmap.h.

◆ id

std::optional<uint64_t> mp2p_icp::metric_map_t::id

An optional numerical ID to identify the pointcloud in some higher-level system. Used to build the names of ICP debug files, if so requested. It is not mandatory and even duplicates may exist without problems: just a placeholder for the user of this library to use it.

Definition at line 89 of file metricmap.h.

◆ label

std::optional<std::string> mp2p_icp::metric_map_t::label

An optional textual identification/description of the pointcloud in some higher-level system. Used to build the names of ICP debug files, if so requested. It is not mandatory and even duplicates may exist without problems: just a placeholder for the user of this library to use it.

Definition at line 97 of file metricmap.h.

◆ layers

std::map<layer_name_t, mrpt::maps::CMetricMap::Ptr> mp2p_icp::metric_map_t::layers

Different layers indexed by a descriptive name, with point-clouds, 2D/3D gridmap, etc.

Standarized layer names: See section above.

PT_LAYER_RAW: reserved to the original, full point cloud (if kept)
PT_LAYER_PLANE_CENTROIDS: a point for each plane in planes (same order).

See also: point_layers()

Definition at line 76 of file metricmap.h.

◆ lines

std::vector<mrpt::math::TLine3D> mp2p_icp::metric_map_t::lines

3D lines (infinite lines, not segments)

Definition at line 79 of file metricmap.h.

◆ planes

std::vector<plane_patch_t> mp2p_icp::metric_map_t::planes

Plane patches=centroid point + infinite plane

Definition at line 82 of file metricmap.h.

◆ PT_LAYER_PLANE_CENTROIDS

constexpr static const char* mp2p_icp::metric_map_t::PT_LAYER_PLANE_CENTROIDS = "plane_centroids"

staticconstexpr

Definition at line 59 of file metricmap.h.

◆ PT_LAYER_RAW

constexpr static const char* mp2p_icp::metric_map_t::PT_LAYER_RAW = "raw"

staticconstexpr

Definition at line 58 of file metricmap.h.

The documentation for this class was generated from the following files:

Classes

Public Attributes

Static Public Attributes

Protected Member Functions

Methods

Detailed Description

Member Function Documentation

◆ clear()

◆ contents_summary()

◆ derivedSerializeFrom()

◆ derivedSerializeTo()

◆ empty()

◆ get_shared_from_this() [1/2]

◆ get_shared_from_this() [2/2]

◆ get_shared_from_this_or_clone() [1/2]

◆ get_shared_from_this_or_clone() [2/2]

◆ get_visualization()

◆ get_visualization_lines()

◆ get_visualization_map_layer()

◆ get_visualization_planes()

◆ get_visualization_points()

◆ load_from_file()

◆ merge_with()

◆ point_layer()

◆ save_to_file()

◆ size()

◆ size_points_only()

Member Data Documentation

◆ georeferencing

◆ id

◆ label

◆ layers

◆ lines

◆ planes

◆ PT_LAYER_PLANE_CENTROIDS

◆ PT_LAYER_RAW